Golf clubs and golf club heads having a plurality of sensors for detecting one or more swing parameters

Abstract

A golf club having a sensor that is releasably connected is disclosed, where the sensor comprises a plurality of inertial measurement units. Each inertial measurement unit is able to measure linear accelerations along three orthogonal axes and angular rates of rotation along the same three orthogonal axes. Each inertial measurement unit is positioned such that at least two of the axes of each inertial measurement unit are oriented differently. Additionally, a process may be implemented by a processor to expand the measurement range of the sensor.

What is claimed is: 
     
       1. A golf club comprising:
 a shaft and a golf club head, the shaft having a first end connected to the golf club head and a second end connected to a grip; 
 a sensor connected to the golf club, the sensor comprising a first inertial measurement unit, a second inertial measurement unit, and a processor; 
 a non-transitory, computer-readable medium storing computer-executable instructions that, when executed by the processor, causes the processor to at least: 
 receive angular rate of rotation measurements about a first axis, a second axis, and a third axis from the first inertial measurement unit; wherein the first inertial measurement unit is capable of measuring linear accelerations in the first axis, the second axis, and the third axis and angular rates of rotation about the first axis, the second axis, and the third axis, wherein the first axis, the second axis, and the third axis are orthogonally oriented; 
 compare the angular rate of rotation measurements from the first inertial measurement unit to a predetermined set of parameters; 
 receive angular rate of rotation measurements about a fourth axis, a fifth axis, and a sixth axis from the second inertial measurement unit; wherein the second inertial measurement unit is capable of measuring linear accelerations in the fourth axis, the fifth axis, and the sixth axis and angular rates of rotation about the fourth axis, the fifth axis, and the sixth axis, wherein the fourth axis, the fifth axis, and the sixth axis are orthogonally oriented; and wherein the first axis and the second axis of the first inertial measurement unit are oriented at an angle of 45 degrees from the sixth axis of the second inertial measurement unit; 
 calculate angular rate of rotation measurements about a first virtual axis, a second virtual axis, and a third virtual axis, wherein the first virtual axis, the second virtual axis, and the third virtual axis are the same orientation as the first axis, the second axis and the third axis of the first inertial measurement unit; and 
 output the angular rate of rotation measurements of the first virtual axis, the second virtual axis, and the third virtual axis. 
 
     
     
       2. The golf club of  claim 1 , wherein at least one axis of the first inertial measurement unit is oriented in the same direction as at least one axis of the second inertial measurement unit. 
     
     
       3. The golf club of  claim 1 , wherein the predetermined set of parameters include a saturation limit for the angular rate of rotation measurements. 
     
     
       4. A golf club comprising:
 a shaft and a golf club head, the shaft having a first end connected to the golf club head and a second end connected to a grip; 
 a sensor connected to the golf club, the sensor comprising a first inertial measurement unit, a second inertial measurement unit, and a processor; 
 wherein the first inertial measurement unit is capable of measuring linear accelerations in a first axis, a second axis, and a third axis and angular rates of rotation about the first axis, the second axis, and the third axis, wherein the first axis, the second axis, and the third axis are orthogonally oriented; 
 wherein the second inertial measurement unit is capable of measuring linear accelerations in a fourth axis, a fifth axis, and a sixth axis and angular rates of rotation about the fourth axis, the fifth axis, and the sixth axis, wherein the fourth axis, the fifth axis, and the sixth axis are orthogonally oriented; 
 wherein the first axis and the second axis of the first inertial measurement unit are oriented at an angle of 45 degrees to the fourth axis and the fifth axis of the second inertial measurement unit; and 
 a non-transitory, computer-readable medium storing computer-executable instructions that, when executed by the processor, causes the processor to at least: 
 receive angular rate of rotation measurements about a first axis, a second axis, and a third axis from a first inertial measurement unit; 
 compare the angular rate of rotation measurements from the first inertial measurement unit to a predetermined set of parameters; 
 receive angular rate of rotation measurements about a first axis, a second axis, and a third axis from a second inertial measurement unit; 
 calculate angular rate of rotation measurements about a first virtual axis, a second virtual axis, and a third virtual axis, wherein the first virtual axis, the second virtual axis, and the third virtual axis are the same orientation as the first axis, the second axis and the third axis of the first inertial measurement unit; and 
 output the angular rate of rotation measurements of the first virtual axis, the second virtual axis, and the third virtual axis.